Three-Dimensional Measuring Apparatus, Robot, And Robot System
AssigneeSeiko Epson Corporation
InventorShuichi WAKABAYASHI
Life of this patent
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Abstract
A three-dimensional measuring apparatus includes a projection unit that projects a first pattern light and a second pattern light by a laser beam on a region containing an object, an imaging unit that images a captured image of the region, a vibration information receiving part that receives vibration information on a vibration of the projection unit or the imaging unit, and a measuring unit that measures a three-dimensional shape of the object based on the captured image, wherein the region on which the first pattern light having a first period is projected is imaged by the imaging unit when the vibration information is equal to or smaller than a first threshold value.
Claims15
A three-dimensional measuring apparatus comprising:
- a processor;
- a projection unit that projects a first pattern light and a second pattern light by a laser beam on a region containing an object;
- an imaging unit that images a captured image of the region;
- a vibration information receiving part that receives vibration information on a vibration of the projection unit or the imaging unit;
- and
- a measuring unit that measures a three-dimensional shape of the object based on the captured image, wherein
- the processor controls the imaging unit to image the region on which the first pattern light having a first period is projected when the vibration information is equal to or smaller than a first threshold value, and controls the imaging unit to image the region on which the second pattern light having a second period shorter than the first period is projected when the vibration information is equal to or smaller than a second threshold value smaller than the first threshold value.
A robot including a robot arm comprising:
- a processor;
- a projection unit placed in the robot arm and projecting a first pattern light and a second pattern light by a laser beam on a region containing an object;
- an imaging unit placed in the robot arm and imaging a captured image of the region;
- a vibration information receiving part that receives vibration information on a vibration of the projection unit or the imaging unit;
- and
- a measuring unit that measures a three-dimensional shape of the object based on the captured image, wherein
- the processor controls the imaging unit to image the region on which the first pattern light having a first period is projected when the vibration information is equal to or smaller than a first threshold value, and controls the imaging unit to image the region on which the second pattern light having a second period shorter than the first period is projected when the vibration information is equal to or smaller than a second threshold value smaller than the first threshold value.
A robot system comprising:
- a robot including a robot arm;
- a three-dimensional measuring apparatus that performs a three-dimensional measurement of an object using a laser beam;
- and
- a robot controller that controls an operation of the robot based on a measurement result by the three-dimensional measuring apparatus, wherein
- the three-dimensional measuring apparatus includes
- a projection unit that projects a first pattern light and a second pattern light by the laser beam on a region containing the object,
- an imaging unit that images a captured image of the region,
- a vibration information receiving part that receives vibration information on a vibration of the projection unit or the imaging unit, and
- a measuring unit that measures a three-dimensional shape of the object based on the captured image, and
- the robot controller controls the imaging unit to image the region on which the first pattern light having a first period is projected when the vibration information is equal to or smaller than a first threshold value, and controls the imaging unit to image the region on which the second pattern light having a second period shorter than the first period is projected when the vibration information is equal to or smaller than a second threshold value smaller than the first threshold value.
Dependencies are inferred from the claim text.